Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the so called end-to-end approaches for autonomous driving, where the entire driving pipeline is replaced with a single neural network. We review the learning methods, input and output modalities, network architectures and evaluation schemes in end-to-end driving literature. Interpretability and safety are discussed separately, as they remain challenging for this approach. Beyond providing a comprehensive overview of existing methods, we conclude the review with an architecture that combines the most promising elements of the end-to-end autonomous driving systems.

A growing body of research has shown that many classifiers are susceptible to {\em{adversarial examples}} -- small strategic modifications to test inputs that lead to misclassification. In this work, we study general non-parametric methods, with a view towards understanding when they are robust to these modifications. We establish general conditions under which non-parametric methods are r-consistent -- in the sense that they converge to optimally robust and accurate classifiers in the large sample limit. Concretely, our results show that when data is well-separated, nearest neighbors and kernel classifiers are r-consistent, while histograms are not. For general data distributions, we prove that preprocessing by Adversarial Pruning (Yang et. al., 2019) -- that makes data well-separated -- followed by nearest neighbors or kernel classifiers also leads to r-consistency.

To operate effectively in the real world, artificial agents must act from raw sensory input such as images and achieve diverse goals across long time-horizons. On the one hand, recent strides in deep reinforcement and imitation learning have demonstrated impressive ability to learn goal-conditioned policies from high-dimensional image input, though only for short-horizon tasks. On the other hand, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the graph structure is abstracted away from raw sensory input and can only be constructed with task-specific priors. We wish to combine the strengths of deep learning and classical planning to solve long-horizon tasks from raw sensory input. To this end, we introduce Sparse Graphical Memory (SGM), a new data structure that stores observations and feasible transitions in a sparse memory. SGM can be combined with goal-conditioned RL or imitative agents to solve long-horizon tasks across a diverse set of domains. We show that SGM significantly outperforms current state of the art methods on long-horizon, sparse-reward visual navigation tasks. Project video and code are available at https://mishalaskin.github.io/sgm/

Machine learning applications in the legal field are numerous and diverse. In order to make contribution to both the machine learning community and the legal community, we have made efforts to create a model compatible with the classification of text sequences, valuing the interpretability of the results. The purpose of this paper is to classify legal proceedings in three possible status classes, which are (i) archived proceedings, (ii) active proceedings and (iii) suspended proceedings. Our approach is composed by natural language processing, supervised and unsupervised deep learning models and performed remarkably well in the classification task. Furthermore we had some insights regarding the patterns learned by the neural network applying tools to make the results more interpretable.

Human gait refers to a daily motion that represents not only mobility, but it can also be used to identify the walker by either human observers or computers. Recent studies reveal that gait even conveys information about the walker's emotion. Individuals in different emotion states may show different gait patterns. The mapping between various emotions and gait patterns provides a new source for automated emotion recognition. Compared to traditional emotion detection biometrics, such as facial expression, speech and physiological parameters, gait is remotely observable, more difficult to imitate, and requires less cooperation from the subject. These advantages make gait a promising source for emotion detection. This article reviews current research on gait-based emotion detection, particularly on how gait parameters can be affected by different emotion states and how the emotion states can be recognized through distinct gait patterns. We focus on the detailed methods and techniques applied in the whole process of emotion recognition: data collection, preprocessing, and classification. At last, we discuss possible future developments of efficient and effective gait-based emotion recognition using the state of the art techniques on intelligent computation and big data.

Players of a free-to-play game are divided into three main groups: non-paying active users, paying active users and inactive users. A State Space time series approach is then used to model the daily conversion rates between the different groups, i.e., the probability of transitioning from one group to another. This allows, not only for predictions on how these rates are to evolve, but also for a deeper understanding of the impact that in-game planning and calendar effects have. It is also used in this work for the detection of marketing and promotion campaigns about which no information is available. In particular, two different State Space formulations are considered and compared: an Autoregressive Integrated Moving Average process and an Unobserved Components approach, in both cases with a linear regression to explanatory variables. Both yield very close estimations for covariate parameters, producing forecasts with similar performances for most transition rates. While the Unobserved Components approach is more robust and needs less human intervention in regards to model definition, it produces significantly worse forecasts for non-paying user abandonment probability. More critically, it also fails to detect a plausible marketing and promotion campaign scenario.

Off-the-shelf pre-trained Automatic Speech Recognition (ASR) systems are an increasingly viable service for companies of any size building speech-based products. While these ASR systems are trained on large amounts of data, domain mismatch is still an issue for many such parties that want to use this service as-is leading to not so optimal results for their task. We propose a simple technique to perform domain adaptation for ASR error correction via machine translation. The machine translation model is a strong candidate to learn a mapping from out-of-domain ASR errors to in-domain terms in the corresponding reference files. We use two off-the-shelf ASR systems in this work: Google ASR (commercial) and the ASPIRE model (open-source). We observe 7% absolute improvement in word error rate and 4 point absolute improvement in BLEU score in Google ASR output via our proposed method. We also evaluate ASR error correction via a downstream task of Speaker Diarization that captures speaker style, syntax, structure and semantic improvements we obtain via ASR correction.

Objective: Deriving disease subtypes from electronic health records (EHRs) can guide next-generation personalized medicine. However, challenges in summarizing and representing patient data prevent widespread practice of scalable EHR-based stratification analysis. Here, we present a novel unsupervised framework based on deep learning to process heterogeneous EHRs and derive patient representations that can efficiently and effectively enable patient stratification at scale. Materials and methods: We considered EHRs of $1,608,741$ patients from a diverse hospital cohort comprising of a total of $57,464$ clinical concepts. We introduce a representation learning model based on word embeddings, convolutional neural networks and autoencoders (i.e., "ConvAE") to transform patient trajectories into low-dimensional latent vectors. We evaluated these representations as broadly enabling patient stratification by applying hierarchical clustering to different multi-disease and disease-specific patient cohorts. Results: ConvAE significantly outperformed several common baselines in a clustering task to identify patients with different complex conditions, with $2.61$ entropy and $0.31$ purity average scores. When applied to stratify patients within a certain condition, ConvAE led to various clinically relevant subtypes for different disorders, including type 2 diabetes, Parkinson's disease and Alzheimer's disease, largely related to comorbidities, disease progression, and symptom severity. Conclusions: Patient representations derived from modeling EHRs with ConvAE can help develop personalized medicine therapeutic strategies and better understand varying etiologies in heterogeneous sub-populations.

To facilitate the deployment of deep neural networks (DNNs) on resource-constrained computing systems, DNN model compression methods have been proposed. However, previous methods mainly focus on reducing the model size and/or improving hardware performance, without considering the data privacy requirement. This paper proposes a privacy-preserving model compression framework that formulates a privacy-preserving DNN weight pruning problem and develops an ADMM based solution to support different weight pruning schemes. We consider the case that the system designer will perform weight pruning on a pre-trained model provided by the client, whereas the client cannot share her confidential training dataset. To mitigate the non-availability of the training dataset, the system designer distills the knowledge of a pre-trained model into a pruned model using only randomly generated synthetic data. Then the client's effort is simply reduced to performing the retraining process using her confidential training dataset, which is similar as the DNN training process with the help of the mask function from the system designer. Both algorithmic and hardware experiments validate the effectiveness of the proposed framework.

For reliability, it is important that the predictions made by machine learning methods are interpretable by human. In general, deep neural networks (DNNs) can provide accurate predictions, although it is difficult to interpret why such predictions are obtained by DNNs. On the other hand, interpretation of linear models is easy, although their predictive performance would be low since real-world data is often intrinsically non-linear. To combine both the benefits of the high predictive performance of DNNs and high interpretability of linear models into a single model, we propose neural generators of sparse local linear models (NGSLLs). The sparse local linear models have high flexibility as they can approximate non-linear functions. The NGSLL generates sparse linear weights for each sample using DNNs that take original representations of each sample (e.g., word sequence) and their simplified representations (e.g., bag-of-words) as input. By extracting features from the original representations, the weights can contain rich information to achieve high predictive performance. Additionally, the prediction is interpretable because it is obtained by the inner product between the simplified representations and the sparse weights, where only a small number of weights are selected by our gate module in the NGSLL. In experiments with real-world datasets, we demonstrate the effectiveness of the NGSLL quantitatively and qualitatively by evaluating prediction performance and visualizing generated weights on image and text classification tasks.